Tracing a message through several relays (postfix)

We have several postfix servers at work with different functions. When a mail arrives at our company it might hop 2-3 times before it reaches the mailbox.

We need to track these mails efficiently to track down problems. The mail ID changes from each server making it a challenge since this email system processes thousands of mail each day and logs are long and complex.

Are there any tools that can make tracking more easy? I was thinking rsyslog but since the mail ID changes its still complex and too time-consuming.